Setup & Operation 5. Motion Range
(1) | Turn OFF the Controller. |
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(2) | Install a hexagon socket head cap bolt into the hole corresponding to the setting angle, | |||||
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| Joint | Hexagon socket head cap | The number | Recommended |
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| bolt (fully threaded) | of bolts | tightening torque |
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| 1 | M8 × 10 | 1 bolt / | 3720 N⋅cm (380 kgf⋅cm) |
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| one side |
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(3) | Turn ON the Controller. |
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(4) | Set the pulse range corresponding to the new positions of the mechanical stops. | |||||
NOTE
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EPSON
RC+
Be sure to set the pulse range inside the positions of the mechanical stop range.
Example: Using
The angle of Joint #1 is set from
Execute the following commands from the [Command Window].
>JRANGE | ' Sets the pulse range of Joint #1 |
>JRANGE | ' Sets the pulse range of Joint #2 |
>RANGE | ' Checks the setting using Range |
(5)Move the arm by hand until it touches the mechanical stops, and make sure that the arm does not hit any peripheral equipment during operation.
(6)Operate the joint changed at low speeds until it reaches the positions of the minimum and maximum pulse range. Make sure that the arm does not hit the mechanical stops. (Check the position of the mechanical stop and the motion range you set.)
Example: Using
The angle of Joint #1 is set from
EPSON
RC+
Execute the following commands from the [Command Window].
>MOTOR | ON | ' Turns ON the motor |
>CP ON | 5 | ' Enters |
>SPEED | ' Sets at low speeds | |
>PULSE | ' Moves to the min. pulse position of Joint #1 | |
>PULSE | 51729750,0,0,0 | ' Moves to the max. pulse position of Joint #1 |
>PULSE | ' Moves to the min. pulse position of Joint #2 | |
>PULSE | 20971520, 20534614,0,0 | ' Moves to the max. pulse position of Joint #2 |
The Pulse command (Go Pulse command) moves all joints to the specified positions at the same time. Specify safe positions after considering motion of not only the joints whose pulse range have been changed, but also other joints.
In this example, Joint #1 is moved to the center of its motion range (pulse value: 20971520) when checking Joint #2.
If the arm is hitting the mechanical stops or if an error occurs after the arm hits the mechanical stops, either reset the pulse range to a narrower setting or extend the positions of the mechanical stops within the limit.
54 | G3 Rev.1 |